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<a href="raytrace__primitive_8cc.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * raytrace_primitive.cc</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Created on: Oct 29, 2018</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *      Author: Vitaliy Rusinov</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> */</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="raytrace__primitive_8h.html">collision/raytrace_primitive.h</a>&quot;</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="application_8h.html">collision/application.h</a>&quot;</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &lt;cmath&gt;</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &lt;iostream&gt;</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;</div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacecollision.html">collision</a> {</div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="keyword">namespace </span>raytrace {</div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;</div><div class="line"><a name="l00016"></a><span class="lineno"><a class="line" href="structcollision_1_1raytrace_1_1_point.html#aca1d0a4753c8d7fff806028a765c2d3a">   16</a></span>&#160;<a class="code" href="structcollision_1_1raytrace_1_1_point.html#aca1d0a4753c8d7fff806028a765c2d3a">Point::Point</a>() {</div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;  <a class="code" href="structcollision_1_1raytrace_1_1_point.html#a569322759d29989a357eafd9f376304d">x</a> = 0;</div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;  <a class="code" href="structcollision_1_1raytrace_1_1_point.html#a75ada217adbe221af6bdb23a173c7d64">y</a> = 0;</div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;};</div><div class="line"><a name="l00020"></a><span class="lineno"><a class="line" href="structcollision_1_1raytrace_1_1_point.html#a0e67dfdb5d4abf114777165f35bc0700">   20</a></span>&#160;<a class="code" href="structcollision_1_1raytrace_1_1_point.html#aca1d0a4753c8d7fff806028a765c2d3a">Point::Point</a>(<span class="keyword">const</span> Eigen::Vector2d &amp;pnt) : x(pnt.x()), y(pnt.y()){};</div><div class="line"><a name="l00021"></a><span class="lineno"><a class="line" href="structcollision_1_1raytrace_1_1_point.html#a79cd350fde50211cabbf729ecc32bac5">   21</a></span>&#160;<a class="code" href="structcollision_1_1raytrace_1_1_point.html#aca1d0a4753c8d7fff806028a765c2d3a">Point::Point</a>(<span class="keyword">const</span> <a class="code" href="structcollision_1_1raytrace_1_1_point.html">Point</a> &amp;pnt) : x(pnt.x), y(pnt.y){};</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;</div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment">// Adapted from</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment">// http://csharphelper.com/blog/2014/09/determine-where-a-line-intersects-a-circle-in-c/</span></div><div class="line"><a name="l00025"></a><span class="lineno"><a class="line" href="namespacecollision_1_1raytrace.html#ad60325650aba6f3ce8fd4eb92cad44c1">   25</a></span>&#160;<span class="keywordtype">int</span> <a class="code" href="namespacecollision_1_1raytrace.html#ad60325650aba6f3ce8fd4eb92cad44c1">findLineCircleIntersections</a>(<span class="keywordtype">double</span> cx, <span class="keywordtype">double</span> cy, <span class="keywordtype">double</span> radius,</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;                                <span class="keyword">const</span> Eigen::Vector2d &amp;p1,</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;                                <span class="keyword">const</span> Eigen::Vector2d &amp;p2,</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;                                std::vector&lt;Eigen::Vector2d&gt; &amp;inters) {</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;  <span class="keywordtype">double</span> dx, dy, A, B, C, <a class="code" href="namespacecollision_1_1raytrace.html#a60df465f132c196bdb339595739e7229">det</a>, t;</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;  dx = p2.x() - p1.x();</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;  dy = p2.y() - p1.y();</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;  A = dx * dx + dy * dy;</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;  B = 2 * (dx * (p1.x() - cx) + dy * (p1.y() - cy));</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;  C = (p1.x() - cx) * (p1.x() - cx) + (p1.y() - cy) * (p1.y() - cy) -</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;      radius * radius;</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;  <a class="code" href="namespacecollision_1_1raytrace.html#a60df465f132c196bdb339595739e7229">det</a> = B * B - 4 * A * C;</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;  <span class="keywordflow">if</span> ((A &lt;= 0.0000001) || (<a class="code" href="namespacecollision_1_1raytrace.html#a60df465f132c196bdb339595739e7229">det</a> &lt; 0)) {</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;    <span class="comment">// No real solutions.</span></div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;    <span class="keywordflow">return</span> 0;</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;  } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (<a class="code" href="namespacecollision_1_1raytrace.html#a60df465f132c196bdb339595739e7229">det</a> == 0) {</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;    <span class="comment">// One solution.</span></div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;    t = -B / (2 * A);</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;    inters.push_back(Eigen::Vector2d(p1.x() + t * dx, p1.y() + t * dy));</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;    <span class="keywordflow">return</span> 1;</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    <span class="comment">// Two solutions.</span></div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;    t = (double)((-B + sqrt(<a class="code" href="namespacecollision_1_1raytrace.html#a60df465f132c196bdb339595739e7229">det</a>)) / (2 * A));</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;    inters.push_back(Eigen::Vector2d(p1.x() + t * dx, p1.y() + t * dy));</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    t = (double)((-B - sqrt(<a class="code" href="namespacecollision_1_1raytrace.html#a60df465f132c196bdb339595739e7229">det</a>)) / (2 * A));</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    inters.push_back(Eigen::Vector2d(p1.x() + t * dx, p1.y() + t * dy));</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    <span class="keywordflow">return</span> 2;</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  }</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;}</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;</div><div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="namespacecollision_1_1raytrace.html#aa5d0e3bbe5db32786c5562a886ddba67">   59</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="namespacecollision_1_1raytrace.html#aa5d0e3bbe5db32786c5562a886ddba67">RaytraceDebugOutput</a>(<span class="keyword">const</span> <span class="keywordtype">char</span> *message) {</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;<span class="preprocessor">#if RAYTRACE_DEBUG</span></div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  std::cout &lt;&lt; message;</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;}</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;</div><div class="line"><a name="l00065"></a><span class="lineno"><a class="line" href="namespacecollision_1_1raytrace.html#a8f655b21b0063c7b37865a4a89e358f0">   65</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="namespacecollision_1_1raytrace.html#a8f655b21b0063c7b37865a4a89e358f0">RaiseRaytraceError</a>(<span class="keyword">const</span> <span class="keywordtype">char</span> *message) {</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;<span class="preprocessor">#if RAYTRACE_DEBUG</span></div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;  std::cout &lt;&lt; message;</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;}</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;<span class="comment">// Adapted from</span></div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;<span class="comment">// https://www.geeksforgeeks.org/check-if-two-given-line-segments-intersect/</span></div><div class="line"><a name="l00073"></a><span class="lineno"><a class="line" href="namespacecollision_1_1raytrace.html#a025bf0f171abcc1cf7bbee6c4a41bba3">   73</a></span>&#160;<span class="keywordtype">bool</span> <a class="code" href="namespacecollision_1_1raytrace.html#a025bf0f171abcc1cf7bbee6c4a41bba3">onSegment</a>(<a class="code" href="structcollision_1_1raytrace_1_1_point.html">Point</a> p, <a class="code" href="structcollision_1_1raytrace_1_1_point.html">Point</a> q, <a class="code" href="structcollision_1_1raytrace_1_1_point.html">Point</a> r) {</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  <span class="keywordflow">if</span> (q.<a class="code" href="structcollision_1_1raytrace_1_1_point.html#a569322759d29989a357eafd9f376304d">x</a> &lt;= max(p.<a class="code" href="structcollision_1_1raytrace_1_1_point.html#a569322759d29989a357eafd9f376304d">x</a>, r.<a class="code" href="structcollision_1_1raytrace_1_1_point.html#a569322759d29989a357eafd9f376304d">x</a>) &amp;&amp; q.<a class="code" href="structcollision_1_1raytrace_1_1_point.html#a569322759d29989a357eafd9f376304d">x</a> &gt;= min(p.<a class="code" href="structcollision_1_1raytrace_1_1_point.html#a569322759d29989a357eafd9f376304d">x</a>, r.<a class="code" href="structcollision_1_1raytrace_1_1_point.html#a569322759d29989a357eafd9f376304d">x</a>) &amp;&amp; q.<a class="code" href="structcollision_1_1raytrace_1_1_point.html#a75ada217adbe221af6bdb23a173c7d64">y</a> &lt;= max(p.<a class="code" href="structcollision_1_1raytrace_1_1_point.html#a75ada217adbe221af6bdb23a173c7d64">y</a>, r.<a class="code" href="structcollision_1_1raytrace_1_1_point.html#a75ada217adbe221af6bdb23a173c7d64">y</a>) &amp;&amp;</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;      q.<a class="code" href="structcollision_1_1raytrace_1_1_point.html#a75ada217adbe221af6bdb23a173c7d64">y</a> &gt;= min(p.<a class="code" href="structcollision_1_1raytrace_1_1_point.html#a75ada217adbe221af6bdb23a173c7d64">y</a>, r.<a class="code" href="structcollision_1_1raytrace_1_1_point.html#a75ada217adbe221af6bdb23a173c7d64">y</a>))</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;}</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;<span class="comment">// To find orientation of ordered triplet (p, q, r).</span></div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;<span class="comment">// The function returns following values</span></div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;<span class="comment">// 0 --&gt; p, q and r are colinear</span></div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;<span class="comment">// 1 --&gt; Clockwise</span></div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;<span class="comment">// 2 --&gt; Counterclockwise</span></div><div class="line"><a name="l00086"></a><span class="lineno"><a class="line" href="namespacecollision_1_1raytrace.html#a6131dea50f0b53336b6f535167ad90ab">   86</a></span>&#160;<span class="keywordtype">int</span> <a class="code" href="namespacecollision_1_1raytrace.html#a6131dea50f0b53336b6f535167ad90ab">orientation</a>(<a class="code" href="structcollision_1_1raytrace_1_1_point.html">Point</a> p, <a class="code" href="structcollision_1_1raytrace_1_1_point.html">Point</a> q, <a class="code" href="structcollision_1_1raytrace_1_1_point.html">Point</a> r) {</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;  <span class="comment">// See 10th slides from following link for derivation of the formula</span></div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  <span class="comment">// http://www.dcs.gla.ac.uk/~pat/52233/slides/Geometry1x1.pdf</span></div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;  <span class="keywordtype">double</span> val = (q.<a class="code" href="structcollision_1_1raytrace_1_1_point.html#a75ada217adbe221af6bdb23a173c7d64">y</a> - p.<a class="code" href="structcollision_1_1raytrace_1_1_point.html#a75ada217adbe221af6bdb23a173c7d64">y</a>) * (r.<a class="code" href="structcollision_1_1raytrace_1_1_point.html#a569322759d29989a357eafd9f376304d">x</a> - q.<a class="code" href="structcollision_1_1raytrace_1_1_point.html#a569322759d29989a357eafd9f376304d">x</a>) - (q.<a class="code" href="structcollision_1_1raytrace_1_1_point.html#a569322759d29989a357eafd9f376304d">x</a> - p.<a class="code" href="structcollision_1_1raytrace_1_1_point.html#a569322759d29989a357eafd9f376304d">x</a>) * (r.<a class="code" href="structcollision_1_1raytrace_1_1_point.html#a75ada217adbe221af6bdb23a173c7d64">y</a> - q.<a class="code" href="structcollision_1_1raytrace_1_1_point.html#a75ada217adbe221af6bdb23a173c7d64">y</a>);</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  <span class="keywordflow">if</span> (val == 0)</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;    <span class="keywordflow">return</span> 0; <span class="comment">// colinear</span></div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;  <span class="keywordflow">return</span> (val &gt; 0) ? 1 : 2; <span class="comment">// clock or counterclock wise</span></div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;}</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;</div><div class="line"><a name="l00097"></a><span class="lineno"><a class="line" href="namespacecollision_1_1raytrace.html#a60df465f132c196bdb339595739e7229">   97</a></span>&#160;<span class="keyword">inline</span> <span class="keywordtype">double</span> <a class="code" href="namespacecollision_1_1raytrace.html#a60df465f132c196bdb339595739e7229">det</a>(<span class="keywordtype">double</span> a, <span class="keywordtype">double</span> b, <span class="keywordtype">double</span> c, <span class="keywordtype">double</span> d) {</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;  <span class="keywordflow">return</span> a * d - b * c;</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;}</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;</div><div class="line"><a name="l00101"></a><span class="lineno"><a class="line" href="namespacecollision_1_1raytrace.html#a8f02f6781a2c5c86af568cc136f999f0">  101</a></span>&#160;<span class="keywordtype">bool</span> <a class="code" href="namespacecollision_1_1raytrace.html#a8f02f6781a2c5c86af568cc136f999f0">lineLineIntersect</a>(<span class="keywordtype">double</span> x1, <span class="keywordtype">double</span> y1,         <span class="comment">// Line 1 start</span></div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;                       <span class="keywordtype">double</span> x2, <span class="keywordtype">double</span> y2,         <span class="comment">// Line 1 end</span></div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;                       <span class="keywordtype">double</span> x3, <span class="keywordtype">double</span> y3,         <span class="comment">// Line 2 start</span></div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;                       <span class="keywordtype">double</span> x4, <span class="keywordtype">double</span> y4,         <span class="comment">// Line 2 end</span></div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;                       <span class="keywordtype">double</span> &amp;ixOut, <span class="keywordtype">double</span> &amp;iyOut) <span class="comment">// Output</span></div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;{</div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;  <span class="comment">// http://mathworld.wolfram.com/Line-LineIntersection.html</span></div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;</div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;  <span class="keywordtype">double</span> detL1 = <a class="code" href="namespacecollision_1_1raytrace.html#a60df465f132c196bdb339595739e7229">det</a>(x1, y1, x2, y2);</div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;  <span class="keywordtype">double</span> detL2 = <a class="code" href="namespacecollision_1_1raytrace.html#a60df465f132c196bdb339595739e7229">det</a>(x3, y3, x4, y4);</div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;  <span class="keywordtype">double</span> x1mx2 = x1 - x2;</div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;  <span class="keywordtype">double</span> x3mx4 = x3 - x4;</div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;  <span class="keywordtype">double</span> y1my2 = y1 - y2;</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;  <span class="keywordtype">double</span> y3my4 = y3 - y4;</div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;</div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;  <span class="keywordtype">double</span> xnom = <a class="code" href="namespacecollision_1_1raytrace.html#a60df465f132c196bdb339595739e7229">det</a>(detL1, x1mx2, detL2, x3mx4);</div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;  <span class="keywordtype">double</span> ynom = <a class="code" href="namespacecollision_1_1raytrace.html#a60df465f132c196bdb339595739e7229">det</a>(detL1, y1my2, detL2, y3my4);</div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;  <span class="keywordtype">double</span> denom = <a class="code" href="namespacecollision_1_1raytrace.html#a60df465f132c196bdb339595739e7229">det</a>(x1mx2, y1my2, x3mx4, y3my4);</div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;  <span class="keywordflow">if</span> (denom == 0.0) <span class="comment">// Lines don&#39;t seem to cross</span></div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;  {</div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;    ixOut = NAN;</div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;    iyOut = NAN;</div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;  }</div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;</div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;  ixOut = xnom / denom;</div><div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;  iyOut = ynom / denom;</div><div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;  <span class="keywordflow">if</span> (!isfinite(ixOut) || !isfinite(iyOut)) <span class="comment">// Probably a numerical issue</span></div><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;</div><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;  <span class="keywordflow">return</span> <span class="keyword">true</span>; <span class="comment">// All OK</span></div><div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;}</div><div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;</div><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;<span class="comment">// Part taken from</span></div><div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;<span class="comment">// https://www.geeksforgeeks.org/check-if-two-given-line-segments-intersect/ The</span></div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;<span class="comment">// main function that returns true if line segment &#39;p1q1&#39; and &#39;p2q2&#39; intersect.</span></div><div class="line"><a name="l00137"></a><span class="lineno"><a class="line" href="namespacecollision_1_1raytrace.html#a9b179e024ada71f8f3197d7a514bcb82">  137</a></span>&#160;<span class="keywordtype">bool</span> <a class="code" href="namespacecollision_1_1raytrace.html#a9b179e024ada71f8f3197d7a514bcb82">doIntersect</a>(<a class="code" href="structcollision_1_1raytrace_1_1_point.html">Point</a> p1, <a class="code" href="structcollision_1_1raytrace_1_1_point.html">Point</a> q1, <a class="code" href="structcollision_1_1raytrace_1_1_point.html">Point</a> p2, <a class="code" href="structcollision_1_1raytrace_1_1_point.html">Point</a> q2,</div><div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;                 std::vector&lt;Point&gt; &amp;inters) {</div><div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;  <span class="comment">// Find the four orientations needed for general and</span></div><div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;  <span class="comment">// special cases</span></div><div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;  <span class="keywordtype">int</span> o1 = <a class="code" href="namespacecollision_1_1raytrace.html#a6131dea50f0b53336b6f535167ad90ab">orientation</a>(p1, q1, p2);</div><div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;  <span class="keywordtype">int</span> o2 = <a class="code" href="namespacecollision_1_1raytrace.html#a6131dea50f0b53336b6f535167ad90ab">orientation</a>(p1, q1, q2);</div><div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;  <span class="keywordtype">int</span> o3 = <a class="code" href="namespacecollision_1_1raytrace.html#a6131dea50f0b53336b6f535167ad90ab">orientation</a>(p2, q2, p1);</div><div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;  <span class="keywordtype">int</span> o4 = <a class="code" href="namespacecollision_1_1raytrace.html#a6131dea50f0b53336b6f535167ad90ab">orientation</a>(p2, q2, q1);</div><div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;</div><div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;  <span class="comment">// General case</span></div><div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;  <span class="keywordflow">if</span> (o1 != o2 &amp;&amp; o3 != o4) {</div><div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;    <span class="keywordtype">double</span> int_x = 0;</div><div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;    <span class="keywordtype">double</span> int_y = 0;</div><div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;    <span class="keywordflow">if</span> (<a class="code" href="namespacecollision_1_1raytrace.html#a8f02f6781a2c5c86af568cc136f999f0">lineLineIntersect</a>(p1.<a class="code" href="structcollision_1_1raytrace_1_1_point.html#a569322759d29989a357eafd9f376304d">x</a>, p1.<a class="code" href="structcollision_1_1raytrace_1_1_point.html#a75ada217adbe221af6bdb23a173c7d64">y</a>, q1.<a class="code" href="structcollision_1_1raytrace_1_1_point.html#a569322759d29989a357eafd9f376304d">x</a>, q1.<a class="code" href="structcollision_1_1raytrace_1_1_point.html#a75ada217adbe221af6bdb23a173c7d64">y</a>, p2.<a class="code" href="structcollision_1_1raytrace_1_1_point.html#a569322759d29989a357eafd9f376304d">x</a>, p2.<a class="code" href="structcollision_1_1raytrace_1_1_point.html#a75ada217adbe221af6bdb23a173c7d64">y</a>, q2.<a class="code" href="structcollision_1_1raytrace_1_1_point.html#a569322759d29989a357eafd9f376304d">x</a>, q2.<a class="code" href="structcollision_1_1raytrace_1_1_point.html#a75ada217adbe221af6bdb23a173c7d64">y</a>, int_x,</div><div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;                          int_y)) {</div><div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;      <a class="code" href="structcollision_1_1raytrace_1_1_point.html">Point</a> intersection1;</div><div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;      intersection1.<a class="code" href="structcollision_1_1raytrace_1_1_point.html#a569322759d29989a357eafd9f376304d">x</a> = int_x;</div><div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;      intersection1.<a class="code" href="structcollision_1_1raytrace_1_1_point.html#a75ada217adbe221af6bdb23a173c7d64">y</a> = int_y;</div><div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;      inters.push_back(intersection1);</div><div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;      <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160; 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   }</div><div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;    <span class="keywordflow">if</span> (outnum == 2)</div><div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;      <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;</div><div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;    <span class="keywordflow">if</span> (<a class="code" href="namespacecollision_1_1raytrace.html#a025bf0f171abcc1cf7bbee6c4a41bba3">onSegment</a>(p1, q2, q1)) {</div><div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;      outnum++;</div><div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;      inters.push_back(q2);</div><div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;    }</div><div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;</div><div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160; 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   }</div><div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;</div><div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;    <span class="keywordflow">if</span> (outnum == 2)</div><div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;      <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;</div><div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;    <span class="keywordflow">if</span> (<a class="code" href="namespacecollision_1_1raytrace.html#a025bf0f171abcc1cf7bbee6c4a41bba3">onSegment</a>(p2, q1, q2)) {</div><div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;      outnum++;</div><div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;      inters.push_back(q1);</div><div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;    }</div><div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;</div><div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;    <span class="comment">// if(outnum==2) return true;</span></div><div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;  }</div><div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;</div><div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;  <span class="comment">// Special Cases</span></div><div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;  <span class="comment">// p1, q1 and p2 are colinear and p2 lies on segment p1q1</span></div><div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;  <span class="keywordflow">if</span> (o1 == 0 &amp;&amp; <a class="code" href="namespacecollision_1_1raytrace.html#a025bf0f171abcc1cf7bbee6c4a41bba3">onSegment</a>(p1, p2, q1)) {</div><div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;    inters.push_back(p2);</div><div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;  }</div><div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;</div><div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;  <span class="comment">// p1, q1 and q2 are colinear and q2 lies on segment p1q1</span></div><div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;  <span class="keywordflow">if</span> (o2 == 0 &amp;&amp; <a class="code" href="namespacecollision_1_1raytrace.html#a025bf0f171abcc1cf7bbee6c4a41bba3">onSegment</a>(p1, q2, q1)) {</div><div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;    inters.push_back(q2);</div><div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;  }</div><div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;</div><div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;  <span class="comment">// p2, q2 and p1 are colinear and p1 lies on segment p2q2</span></div><div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;  <span class="keywordflow">if</span> (o3 == 0 &amp;&amp; <a class="code" href="namespacecollision_1_1raytrace.html#a025bf0f171abcc1cf7bbee6c4a41bba3">onSegment</a>(p2, p1, q2)) {</div><div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;    inters.push_back(p1);</div><div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;  }</div><div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;</div><div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;  <span class="comment">// p2, q2 and q1 are colinear and q1 lies on segment p2q2</span></div><div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;  <span class="keywordflow">if</span> (o4 == 0 &amp;&amp; <a class="code" href="namespacecollision_1_1raytrace.html#a025bf0f171abcc1cf7bbee6c4a41bba3">onSegment</a>(p2, q1, q2)) {</div><div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;    inters.push_back(q1);</div><div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;  }</div><div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;</div><div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;  <span class="keywordflow">return</span> <span class="keyword">false</span>; <span class="comment">// Doesn&#39;t fall in any of the above cases</span></div><div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;}</div><div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;} <span class="comment">// namespace raytrace</span></div><div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;} <span class="comment">// namespace collision</span></div><div class="ttc" id="raytrace__primitive_8h_html"><div class="ttname"><a href="raytrace__primitive_8h.html">raytrace_primitive.h</a></div></div>
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<div class="ttc" id="application_8h_html"><div class="ttname"><a href="application_8h.html">application.h</a></div></div>
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<div class="ttc" id="namespacecollision_html"><div class="ttname"><a href="namespacecollision.html">collision</a></div><div class="ttdef"><b>Definition:</b> <a href="collision__checker_8h_source.html#l00020">collision_checker.h:20</a></div></div>
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<div class="ttc" id="structcollision_1_1raytrace_1_1_point_html_a569322759d29989a357eafd9f376304d"><div class="ttname"><a href="structcollision_1_1raytrace_1_1_point.html#a569322759d29989a357eafd9f376304d">collision::raytrace::Point::x</a></div><div class="ttdeci">double x</div><div class="ttdef"><b>Definition:</b> <a href="raytrace__primitive_8h_source.html#l00025">raytrace_primitive.h:25</a></div></div>
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<div class="ttc" id="structcollision_1_1raytrace_1_1_point_html_a75ada217adbe221af6bdb23a173c7d64"><div class="ttname"><a href="structcollision_1_1raytrace_1_1_point.html#a75ada217adbe221af6bdb23a173c7d64">collision::raytrace::Point::y</a></div><div class="ttdeci">double y</div><div class="ttdef"><b>Definition:</b> <a href="raytrace__primitive_8h_source.html#l00026">raytrace_primitive.h:26</a></div></div>
<div class="ttc" id="structcollision_1_1raytrace_1_1_point_html_aca1d0a4753c8d7fff806028a765c2d3a"><div class="ttname"><a href="structcollision_1_1raytrace_1_1_point.html#aca1d0a4753c8d7fff806028a765c2d3a">collision::raytrace::Point::Point</a></div><div class="ttdeci">Point()</div><div class="ttdef"><b>Definition:</b> <a href="raytrace__primitive_8cc_source.html#l00016">raytrace_primitive.cc:16</a></div></div>
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